A photoelectric and hydraulic integrated slip ring for high-precision angle measurement

Abstract

The present invention discloses a high-precision angle measurement photoelectric liquid integrated slip ring, which realizes the transfer of coolant, power supply, signal and optical fiber data from the fixed end of the turntable to the rotating end by integrating water hinges, electric rings, optical rings and absolute encoders, and has high-precision angle measurement capabilities. The outer ring rotor of the water hinge at the bottom, the middle electric ring and the top optical ring are rigidly connected to each other, the inner ring stator is floatingly connected, and the high-precision absolute encoder is embedded and installed on the top of the water hinge. The integrated slip ring adopts a water-electric separation design, the water hinge, electric ring and optical ring can be disassembled independently, and the coolant leakage will not damage the electric ring and optical ring. The outer ring rotor of the integrated slip ring is rigidly connected to the rotating end of the turntable, and the inner ring stator is connected to the fixed end of the turntable through a semi-rigid connector, which avoids the problem of reduced angle measurement accuracy caused by the backlash of the fork connection, and also avoids the failures such as reduced bearing life and coolant leakage caused by over-positioning due to the use of a fully rigid connection.

Description

Technical Field

[0001] The invention belongs to the technical field of radar slip rings, in particular to a photoelectric-liquid integrated slip ring for high-precision angle measurement. Background Art

[0002] With the development of high power and high heat consumption of modern radar technology, the photoelectric liquid integrated slip ring is increasingly used in radar turntable equipment and has become an important component of medium and large circular scanning radars. The photoelectric liquid integrated slip ring integrates the electric ring, optical ring and water hinge together to complete the connection of power supply, signal, optical fiber data and coolant from the fixed end to the rotating end. For medium and large circular scanning radars with high power and high heat consumption, due to factors such as large transmission power, large number of signal rings and large coolant flow, the photoelectric liquid integrated slip ring is generally large in size and heavy in weight, and the installation convenience is poor. In addition, the structural parts, cables, water pipes, etc. between the water hinge and the electric ring and the optical ring occupy space, and the isolation between each other is low, making it difficult to separate them independently. Coolant leakage can easily cause water ingress to the electric ring and the optical ring, causing failures. The integrated slip ring needs to be removed as a whole during maintenance, and the overall reliability and maintainability are poor. In addition, the structural characteristics of the large integrated slip ring and the space occupied in the turntable make it impossible to coaxially install high-precision encoders, or to solve the contradiction between zero-backlash transmission and over-positioning, and cannot meet the increasingly high angle measurement accuracy requirements of modern radars. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a high-precision angle measurement photoelectric liquid integrated slip ring, which has the characteristics of water-electricity separation, supports fast and independent disassembly, solves the problems of over-positioning and zero-backlash transmission, and has the ability of high-precision angle measurement in seconds.

[0004] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0005] A photoelectric-hydraulic integrated slip ring for high-precision angle measurement, comprising a water hinge, an electric ring, a light ring, an absolute encoder, an encoder mounting plate and a semi-rigid connector;

[0006] The water hinge is located at the lower part of the integrated slip ring, and includes a water hinge rotor located at the outer ring and a water hinge stator located at the inner ring, which completes the transfer of the coolant from the fixed end to the rotating end of the turntable;

[0007] The absolute encoder includes an encoder rotor and an encoder stator, which are embedded and installed on the upper end surface of the water hinge through an encoder mounting plate to complete the high-precision angle measurement function of the turntable;

[0008] The electric ring is located on the upper part of the integrated slip ring, including an electric ring rotor located on the outer ring and an electric ring stator located on the inner ring, and is connected to the upper end surface of the water hinge to complete the transfer of power supply and signals from the fixed end to the rotating end;

[0009] The optical ring is embedded and installed inside the electric ring and a connector extends from the top of the electric ring. It includes an optical ring rotor on the outer ring and an optical ring stator on the inner ring, completing the transfer of optical fiber data from the fixed end to the rotating end.

[0010] The integrated slip ring adopts a rotation mode in which the outer ring rotates and the inner ring is fixed. The outer ring rotors of the water hinge, electric ring and light ring are rigidly connected to each other through flanges to form the rotor of the integrated slip ring. The inner ring stators of the water hinge, electric ring and light ring are internally floatingly connected through forks and dials to form the stator of the integrated slip ring. The external installation of the integrated slip ring is connected through the external installation interface of the water hinge. The electric ring is installed on the water hinge through the installation flange, and the light ring is embedded and installed on the top of the electric ring through the installation flange. There is no structural connection between the electric ring and the light ring and the outside. The outer ring rotor of the integrated slip ring is rigidly connected to the rotating end of the turntable through the flange of the water hinge rotor to achieve overall rotation input. The inner ring stator is semi-rigidly connected to the fixed end of the turntable through the installation surface of the water hinge stator and the semi-rigid connector to achieve overall fixation of the integrated slip ring stator, ensuring radial and axial floating to avoid over-positioning while eliminating backlash.

[0011] Furthermore, the upper end face flange of the water hinge rotor of the water hinge is rigidly connected to the moving end of the turntable as the external mounting flange of the entire integrated slip ring to realize rotation input, and at the same time, the upper end face of the water hinge rotor is rigidly connected to the lower end face of the electric ring rotor of the electric ring; the encoder rotor of the absolute encoder is fixedly installed with the upper end face of the water hinge rotor through the encoder mounting plate to realize the turntable rotation angle input;

[0012] A first shift fork is arranged on the upper end surface of the water hinge stator, which is kept relatively still with the electric ring stator by connecting the first dial of the electric ring. At the same time, the encoder stator is installed on the upper end surface of the water hinge stator corresponding to the encoder rotor position; the lower end surface of the water hinge stator is semi-rigidly connected to the fixed end of the turntable through a semi-rigid connector, which limits the rotation of the water hinge stator and the encoder stator while avoiding over-positioning and eliminating transmission backlash, thereby ensuring that the encoder input angle is completely consistent with the turntable rotation angle; the water hinge stator has a hollow wire threading hole along the axial direction, which is used for the introduction of stator-side cables of the electric ring and the light ring.

[0013] Furthermore, the semi-rigid connector includes a matching spring and a spring mounting plate, wherein a plurality of springs are radially distributed on the annular spring mounting plate; wherein the spring mounting plate is connected to the fixed end of the turntable, and the spring is connected to the water hinge stator. The spring is made of a bent elastic material, and a plurality of mounting holes are arranged at both ends, and it has a large tangential stiffness and relatively small axial and radial stiffness. When the turntable rotates, the large tangential stiffness of the spring ensures that the water hinge stator and the fixed end of the turntable are stationary relative to the rotation angle and there is no backlash, and the small axial and radial stiffness ensures that the water hinge stator can have a small axial and radial floating with the fixed end of the turntable, thereby avoiding the problems of reduced life of the water hinge bearing and coolant leakage caused by over-positioning.

[0014] Furthermore, the water inlet and outlet pipes of the water hinge rotor are composed of two parallel rotor water inlet pipes and two parallel rotor water outlet pipes, and the water inlet and outlet of the water hinge stator are composed of two parallel stator water inlets and two parallel stator water outlets, which can effectively reduce the radial space occupied by the water hinge while ensuring a large flow rate.

[0015] Furthermore, the electric ring rotor is divided into an outer power ring rotor and an inner signal ring rotor, and both are fixed to the electric ring housing; the electric ring stator is divided into an outer power ring stator and an inner signal ring stator, and the two are fixed via a first dial, a dial hole is provided on the first dial, and cooperates with a first fork above the water hinge stator to ensure that the electric ring stator and the water hinge stator are floatingly connected, limiting the rotation of the electric ring stator while avoiding over-positioning; the power ring stator is installed correspondingly to the power ring rotor, and the signal ring stator is installed correspondingly to the signal ring rotor.

[0016] Furthermore, a second fork is provided inside the signal ring stator near the upper side, which cooperates with the second dial on the optical ring stator; the power supply and signal cables of the electric ring stator are inserted from bottom to top along the threading holes of the water hinge stator, and are respectively connected to the power ring stator and the signal ring stator. The interior of the signal ring stator is an axially hollow structure, which is used for threading the optical fiber of the optical ring stator; the power supply and signal cables of the power ring rotor and the signal ring rotor are led out along the side of the electric ring rotor casing.

[0017] Furthermore, the halo includes a halo rotor and a halo stator, the lower end surface of the halo rotor is fixed to the upper end surface of the electric ring rotor to realize the input of rotational torque; the lower end surface of the halo stator is provided with a second dial, and the dial is provided with a dial groove, which cooperates with the second fork on the electric ring signal ring stator to ensure that the halo stator and the electric ring stator are floatingly connected, limiting the rotation of the halo stator while avoiding over-positioning; the halo stator optical fiber is introduced along the bottom, and the halo rotor optical fiber is led out along the top.

[0018] The beneficial effects of the present invention are:

[0019] Compared with the prior art, the photoelectric-liquid integrated slip ring for high-precision angle measurement of the present invention has the following significant advantages:

[0020] 1) High integration, integrating electric ring, light ring, water hinge and absolute encoder together, with reasonable layout, compact structure and easy installation;

[0021] 2) The integrated high-precision absolute encoder enables the integrated slip ring to have a second-level high-precision angle measurement function and supports power-off position memory, so there is no need to re-zero after recovery;

[0022] 3) The outer ring rotates and the inner ring is fixed. The water hinge, electric ring and light ring inside the integrated slip ring are rigidly connected by flanges, and the inner ring stator is floatingly connected by dials and forks, which has high reliability and long service life.

[0023] 4) The connection between cables and pipelines is convenient and compact. The integrated slip ring outer ring rotor is fixed to the rotating end of the turntable. The cables of the electric ring rotor are led out from the side, the cables of the halo rotor are led out from the top, and the water pipes of the water hinge rotor are led out along the outside to the upper side of the mounting flange without passing through the inside of the electric ring. The axial space occupied by the connection between the cables and the water pipes is small, and the outer ring rotor and the rotating end of the turntable are relatively static. There will be no rotation interference in the connection between the cables and pipelines, which has good safety and high reliability.

[0024] 5) The electric ring, light ring, and water hinge are designed to be separated independently. The water pipe does not pass through the electric ring, so the water and electricity are separated, so that the three can be quickly separated from each other, which is convenient for field maintenance. Coolant leakage caused by water hinge failure or water pipe disassembly will not cause damage to the electric ring and light ring, and the overall reliability is high. There is a hollow threading hole inside the water hinge stator, and the cables of the electric ring and light ring stator end are inserted through the threading hole. When removing the electric ring and light ring separately, there is no need to disassemble the water hinge and water pipe, which is easy to install and maintain;

[0025] 6) The water inlet and outlet of the water hinge rotor and stator adopts a double-pipe parallel connection method, which ensures a large flow rotary connection while effectively reducing the radial space occupation, and the pipeline connection is more convenient and quick;

[0026] 7) The external interfaces of the integrated slip ring rotor and stator are all set on the heavier water hinge, which makes the connection more stable and reliable. The outer ring rotor of the water hinge is rigidly connected to the rotating end of the turntable, and the inner ring stator is semi-rigidly connected to the fixed end of the turntable through a semi-rigid connector, which ensures the radial and axial degrees of freedom while limiting the circumferential degree of freedom, so as to achieve complete consistency between the encoder input angle and the turntable angle, avoid the reduction of angle measurement accuracy caused by the backlash of the fork connection, and avoid the failures such as reduced water hinge bearing life and coolant leakage caused by over-positioning due to the use of fully rigid connection. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the photoelectric liquid integrated slip ring.

[0028] Figure 2 is a schematic diagram of a water hinge.

[0029] Figure 3 This is a top view of the water hinge.

[0030] Figure 4 This is the bottom view of the water hinge.

[0031] Figure 5 It is a schematic diagram of the electric ring.

[0032] Figure 6 This is a diagram of the halo.

[0033] Figure 7 The encoder diagram is for absolute values.

[0034] Figure 8 This is the installation diagram of the absolute encoder.

[0035] Fig. 9 is a schematic diagram of a semi-rigid connector.

[0036] Fig.10 Schematic diagram of the connection between the first dial and the first fork,

[0037] Fig.11 Schematic diagram of the connection between the second dial and the second fork.

[0038] Reference numerals:

[0039] 100 water hinge, 200 electric ring, 300 light ring, 400 absolute encoder, 500 encoder mounting plate, 600 semi-rigid connector;

[0040] 110 water hinge rotor, 120 water hinge stator, 111 rotor water inlet pipe, 112 rotor water outlet pipe, 113 first flange, 114 first mounting surface, 115 second mounting surface, 121 stator water inlet and outlet, 122 stator water outlet, 123 first shift fork, 124 third mounting surface, 125 fourth mounting surface, 126 threading hole;

[0041] 210 electric ring rotor, 220 electric ring stator; 211 power ring rotor, 212 signal ring rotor, 213 second flange, 214 fifth mounting surface, 221 power ring stator, 222 signal ring stator, 223 first shift plate, 224 second shift fork

[0042] 310 halo rotor, 320 halo stator, 311 third flange, 321 second dial;

[0043] 410 encoder rotor, 420 encoder stator;

[0044] 610 reed, 620 reed mounting plate. DETAILED DESCRIPTION

[0045] The present invention is further described clearly and completely below in conjunction with specific embodiments and drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0046] like Figure 1As shown, a high-precision angle measurement optical-electrical-liquid integrated slip ring includes a water hinge 100, an electric ring 200, a light ring 300, an absolute encoder 400, an encoder mounting plate 500, and a semi-rigid connector 600. The water hinge 100 is located at the lower end of the integrated slip ring, connected to the fixed end of the turntable and the electric ring 200, and completes the transfer of the coolant from the fixed end to the rotating end of the turntable; the electric ring 200 is located at the upper end of the integrated slip ring, connected to the water hinge 100 and the light ring 300, and completes the transfer of power supply and signals from the fixed end to the rotating end; the light ring 300 is embedded and installed on the top of the electric ring 200 to complete the transfer of optical fiber data from the fixed end to the rotating end; the absolute encoder 400 is embedded and installed on the top of the water hinge 100 through the encoder mounting plate 500 to complete the high-precision angle measurement function of the turntable. The integrated slip ring adopts the method of outer ring rotation and inner ring fixed transmission. The outer ring rotor is connected to the rotating end of the turntable, and the inner ring stator is connected to the fixed end of the turntable.

[0047] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 8 As shown, the water hinge 100 includes a water hinge rotor 110 and a water hinge stator 120. The water hinge 100 adopts a method in which the outer ring rotates and the inner ring is fixed. The water inlet and outlet pipes of the water hinge rotor 110 are composed of two parallel rotor water inlet pipes 111 and two parallel rotor water outlet pipes 112, and the water inlet and outlet of the water hinge stator 120 are composed of two parallel stator water inlets 121 and two parallel stator water outlets 122, which can effectively reduce the radial space occupied by the water hinge while ensuring a large flow rate. A first flange 113, a first mounting surface 114, and a second mounting surface 115 are arranged above the water hinge rotor 110. The first flange 113 is used for externally mounting and fixing the water hinge rotor 110. The first mounting surface 114 is used for mounting the second flange 213 of the electric ring rotor 210. The second mounting surface 115 is used to mount the encoder rotor 410 through the encoder mounting plate 500. A first fork 123 and a third mounting surface 124 are arranged above the water hinge stator 120, and a fourth mounting surface 125 is arranged below. The first fork 123 is used to connect the first dial 223 of the electric ring stator 220, the third mounting surface 124 is used to mount the encoder stator 420, and the fourth mounting surface 125 realizes a semi-rigid connection between the water hinge stator 120 and the fixed end of the turntable through a semi-rigid connector 600, thereby limiting the circumferential rotation of the water hinge stator 120 and avoiding over-positioning. The middle of the water hinge stator 120 is a hollow wire threading hole 126, which can be used for introducing the stator-side cables of the electric ring 200 and the light ring 300.

[0048] like Figure 1 , Figure 2 , Figure 5 , Figure 6 , Fig.10 , Fig.11 As shown, the electric ring 200 includes an electric ring rotor 210 and an electric ring stator 220, wherein the outer side of the electric ring rotor 210 is a power ring rotor 211, and the inner side is a signal ring rotor 212, which are fixed to the outer shell of the electric ring 200; the outer side of the electric ring stator 220 is a power ring stator 221, and the inner side is a signal ring stator 222, which are fixed to each other through a first dial 223, and the first dial 223 is provided with a dial hole, which cooperates with the first fork 123 above the water hinge stator 120 to ensure that the electric ring stator 210 is floatingly connected to the water hinge stator 110, and the rotation of the electric ring stator 220 is limited while avoiding over-positioning. A second fork 224 is provided near the upper side of the signal ring stator 222, which cooperates with the second dial 321 on the light ring stator 320. The power supply and signal cables of the electric ring stator 220 are inserted from bottom to top along the threading hole 126 of the water hinge stator 120, and are respectively connected to the power ring stator 221 and the signal ring stator 222. The signal ring stator 222 has a hollow structure inside, which can be used for optical fiber threading of the optical ring stator 320. The power supply and signal cables of the power ring rotor 211 and the signal ring rotor 212 are led out along the side of the outer shell of the electric ring rotor 210.

[0049] like Figure 1 , Figure 5 , Figure 6 , Fig.11 As shown, the halo 300 includes a halo rotor 310 and a halo stator 320. A third flange 311 is provided on the upper side of the halo rotor 310, which is fixed to the fifth mounting surface 214 on the top of the electric ring rotor 210 to realize the input of the rotation torque. A second dial 321 is provided on the lower side of the halo stator 320, and a shifting groove is provided on the dial to cooperate with the second shifting fork 224 on the signal ring stator 222 of the electric ring 200 to ensure that the halo stator 320 is floatingly connected with the electric ring stator 220, and the rotation of the halo stator 320 is limited while avoiding over-positioning. The optical fiber of the halo stator 320 is introduced along the bottom, and the optical fiber of the halo rotor 310 is led out along the top.

[0050] like Figure 1 , Figure 2 , Figure 7 , Figure 8 , Fig. 9As shown, the absolute encoder 400 includes an encoder rotor 410 and an encoder stator 420. The encoder rotor 410 is mounted on the second mounting surface 115 on the upper side of the water hinge rotor 110 through the encoder mounting plate 500, and is rigidly connected to the rotating end of the turntable to realize the angle input. The encoder stator 420 is mounted on the third mounting surface 124 on the upper side of the water hinge stator 120, and the water hinge stator 120 is semi-rigidly connected to the fixed end of the turntable through a semi-rigid connector 600. Since the reed 610 of the semi-rigid connector 600 is made of elastic material and multiple mounting holes are set at both ends, it has a large tangential stiffness and relatively small axial and radial stiffness. When the turntable rotates, the large tangential stiffness of the reed 610 makes the circumferential relative angle of the water hinge stator 120 and the fixed end of the turntable stationary and without hysteresis, ensuring that the encoder input angle is completely consistent with the turntable rotation. The coaxial drive, zero-backlash angle measurement design and the use of a high-precision absolute encoder 400 can achieve second-level angle measurement accuracy and support power-off position memory, eliminating the need to re-zero after recovery.

[0051] like Figure 1 , Figure 2 , Figure 5 , Figure 6 , Figure 7 After the integrated slip ring is installed, the water hinge rotor 110, the electric ring rotor 210, and the light ring rotor 310 are rigidly connected to each other through flanges to form the outer ring rotor of the integrated slip ring; the water hinge stator 120, the electric ring stator 220, and the light ring stator 320 are internally floatingly connected through a dial and a fork to form the inner ring stator of the integrated slip ring. The external installation of the integrated slip ring is connected through the external installation interface of the heavier water hinge 100, which is safer and more reliable. Since the integrated slip ring adopts a design in which the outer ring rotates and the inner ring is fixed, the water hinge 100 is at the bottom, and the electric ring 200 and the light ring 300 are at the top. The water hinge rotor water inlet pipe 111 and the rotor water outlet pipe 112 are arranged along the outside of the electric ring 200 without passing through the inside of the electric ring 200. The leads of the electric ring stator 220 and the light ring stator 320 are inserted from the hollow threading hole 126 of the water hinge stator 120 at the bottom. This makes the integrated slip ring have the independent disassembly capability of water-electricity separation. The electric ring and the light ring can be independently disassembled without disassembling the water pipe, and the installation and maintenance are good. Moreover, the integrated slip ring outer ring rotor is rigidly connected to the rotating end of the turntable, and there is no relative displacement between the two. The cable and pipeline connections will not cause rotation interference, which has good safety and high reliability. Since the integrated slip ring stator is semi-rigidly connected to the fixed end of the turntable through the semi-rigid connector 600, the smaller axial and radial stiffness of the spring 610 allows the integrated slip ring stator to have a small axial and radial floating with the turntable, ensuring that the input angle of the absolute encoder 400 is completely consistent with the rotation angle of the turntable, while avoiding over-positioning of the water hinge and improving the bearing life.

[0052] In summary, the present invention provides a high-precision angle measurement optoelectronic liquid integrated slip ring, which has a reasonable overall layout, compact structure, and easy installation. The highly integrated design realizes the equipment integration of water hinges, electric rings, light rings and absolute encoders; the rotation mode of the outer ring rotating and the inner ring fixed and the water-electricity separation design enable the water hinge, electric ring and light ring to have independent splitting capabilities, thereby improving the convenience of installation and maintenance; the semi-rigid connection design at the stator end eliminates the transmission backlash, ensures that the input angle of the absolute encoder is completely equal to the turntable angle, and enables the integrated slip ring to have high-precision angle measurement in seconds and power-off position memory capabilities, while avoiding over-positioning and improving the bearing life.

[0053] The specific embodiments of the present invention are described in detail above. It should be understood that ordinary technicians in this field can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by technicians in the technical field through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the protection scope determined by the claims. Finally, it should be explained that the above is only a preferred embodiment of the present invention and is not used to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, for technicians in this field, it is still possible to modify the technical solutions recorded in the aforementioned embodiments, or to replace some of the technical features therein by equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A photoelectric liquid integrated slip ring for high-precision angle measurement, characterized in that: It includes a water hinge (100), an electric ring (200), a light ring (300), an absolute encoder (400), an encoder mounting plate (500) and a semi-rigid connector (600); The water hinge (100) is located at the bottom of the integrated slip ring, and comprises a water hinge rotor (110) located at the outer ring and a water hinge stator (120) located at the inner ring, and completes the transfer of the coolant from the fixed end to the rotating end of the turntable; The absolute value encoder (400) comprises an encoder rotor (410) and an encoder stator (420), which is embedded and mounted on the upper end surface of the water hinge (100) via an encoder mounting plate (500) to achieve a high-precision angle measurement function of the turntable; The electric ring (200) is located on the upper part of the integrated slip ring, comprises an electric ring rotor (210) located on the outer ring and an electric ring stator (220) located on the inner ring, and is connected to the upper end surface of the water hinge to complete the transfer of power supply and signals from the fixed end to the rotating end; The optical ring (300) is embedded and installed inside the electric ring (200) and has a connector extending from the top of the electric ring. It includes an optical ring rotor (310) on the outer ring and an optical ring stator (320) on the inner ring, completing the transfer of optical fiber data from the fixed end to the rotating end. The upper end face flange of the water hinge rotor (110) of the water hinge (100) serves as an external mounting flange of the entire integrated slip ring and is rigidly connected to the moving end of the turntable to achieve rotation input. At the same time, the upper end face of the water hinge rotor (110) is rigidly connected to the lower end face of the electric ring rotor (210) of the electric ring (200); the encoder rotor (410) of the absolute encoder (400) is fixedly mounted on the upper end face of the water hinge rotor (110) via an encoder mounting plate (500) to achieve turntable rotation angle input; The upper end surface of the water hinge stator (120) is provided with a first shift fork (123), which is kept relatively still with the electric ring stator (220) by connecting the first shift plate (223) of the electric ring (200), and the encoder stator (420) is installed at the upper end surface of the water hinge stator (120) at a position corresponding to the encoder rotor (410); the lower end surface of the water hinge stator (120) is semi-rigidly connected to the fixed end of the turntable through a semi-rigid connector (600), so as to limit the rotation of the water hinge stator (120) and the encoder stator while avoiding over-positioning and eliminating transmission backlash, thereby ensuring that the encoder input angle is completely consistent with the turntable rotation angle; the water hinge stator (120) is provided with a hollow wire threading hole (126) along the axial direction, which is used for introducing the stator-side cables of the electric ring (200) and the light ring (300); The semi-rigid connector comprises a matching reed (610) and a reed mounting plate (620), wherein a plurality of reeds (610) are radially distributed on the annular reed mounting plate (620); wherein the reed mounting plate (620) is connected to the fixed end of the turntable, and the reed (610) is connected to the water hinge stator (120); the reed (610) is made by bending an elastic material, and a plurality of mounting holes are arranged at both ends, and the reed (610) has a large tangential stiffness and relatively small axial and radial stiffness, thereby realizing a semi-rigid connection between the water hinge stator and the fixed end of the turntable.

2. The photoelectric-liquid integrated slip ring for high-precision angle measurement according to claim 1 is characterized in that: The water inlet and outlet pipes of the water hinge rotor (110) are composed of two parallel rotor water inlet pipes (111) and two parallel rotor water outlet pipes (112), and the water inlet and outlet of the water hinge stator (120) are composed of two parallel stator water inlets (121) and two parallel stator water outlets (122), thereby ensuring a large flow rate and effectively reducing the radial space occupied by the water hinge.

3. The photoelectric-liquid integrated slip ring for high-precision angle measurement according to claim 1 or 2, characterized in that: The electric ring rotor (210) is divided into an outer power ring rotor (211) and an inner signal ring rotor (212), both of which are fixedly connected to the outer shell of the electric ring (200); The electric ring stator (220) is divided into an outer power ring stator (221) and an inner signal ring stator (222), and the two are fixedly connected via a first dial (223). The first dial (223) is provided with a dial hole, which cooperates with a first fork (123) above the water hinge stator (120) to ensure that the electric ring stator (220) and the water hinge stator (120) are floatingly connected, and the rotation of the electric ring stator (220) is restricted while avoiding over-positioning. The power ring stator (221) is installed correspondingly to the power ring rotor (211), and the signal ring stator (222) is installed correspondingly to the signal ring rotor (212).

4. The photoelectric-liquid integrated slip ring for high-precision angle measurement according to claim 3 is characterized in that: A second shift fork (224) is provided near the upper side of the signal ring stator (222) to cooperate with the second shift plate (321) on the light ring stator (320); power supply and signal cables of the electric ring stator (220) are inserted from bottom to top along the threading hole (126) of the water hinge stator (120) and connected to the power ring stator (221) and the signal ring stator (222) respectively; the signal ring stator (222) is axially hollow inside and is used for optical fiber threading of the light ring stator (320); power supply and signal cables of the power ring rotor (211) and the signal ring rotor (212) are led out along the side of the outer shell of the electric ring rotor (210).

5. The photoelectric-liquid integrated slip ring for high-precision angle measurement according to claim 1 or 4, characterized in that: The lower end surface of the halo rotor (310) is fixed to the upper end surface of the electric ring rotor (210) to achieve torque input; the lower end surface of the halo stator (320) is provided with a second dial (321), the dial having a shifting groove, which cooperates with a second shifting fork (224) on the electric ring signal ring stator (222) to ensure that the halo stator and the electric ring stator (220) are floatingly connected, and the rotation of the halo stator (320) is restricted while avoiding over-positioning; the optical fiber of the halo stator (320) is introduced along the bottom, and the optical fiber of the halo rotor (310) is led out along the top.

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